SIA OpenIR  > 水下机器人研究室
Formation control of multiple AUVs for moth-inspired plume tracing
Kang XD(康小东); Li W(李伟); Xu HL(徐红丽); Feng XS(封锡盛)
Department水下机器人研究室
Conference Name20th International Offshore and Polar Engineering Conference, ISOPE-2010
Conference DateJune 20-25, 2010
Conference PlaceBeijing, China
Author of SourceInternational Society of Offshore and Polar Engineers (ISOPE); China National Offshore Oil Corporation (CNOOC); SK Energy
Source PublicationProceedings of the International Offshore and Polar Engineering Conference
PublisherInternational Society of Offshore and Polar Engineers
Publication PlaceCupertino, CA
2010
Pages419-424
Indexed ByEI
EI Accession number20103613220473
Contribution Rank1
ISSN1098-6189
ISBN978-1-88065-377-7
KeywordLocation Submersibles Underwater Equipment Water Craft
AbstractThis paper presents a novel strategy for multiple autonomous underwater vehicles (AUVs) to trace a chemical plume and to identify its source location in a simulated fluid-advected environment with scales of 100 meters. First, we develop a coordination mechanism for selecting a leader among multiple AUVs which performs moth-inspired plume tracing. Second, we use a formation algorithm to control non-leader AUVs to follow the leader AUV during chemical plume tracing (CPT) missions. We evaluate the proposed strategy using a simulated plume with significant filament intermittency and meander. The studies show that, in comparison with a single moth-inspired AUV tracer, the multiple AUVs significantly reduce the time cost for tracing the plume toward its source and identifying the source location, and improve the accuracy of the declared source locations.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7816
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning Province, China
2.Graduate School of the Chinese Academy of Sciences, Beijing, China
3.Department of Computer Science, California State University, Bakersfield, CA, United States
Recommended Citation
GB/T 7714
Kang XD,Li W,Xu HL,et al. Formation control of multiple AUVs for moth-inspired plume tracing[C]//International Society of Offshore and Polar Engineers (ISOPE); China National Offshore Oil Corporation (CNOOC); SK Energy. Cupertino, CA:International Society of Offshore and Polar Engineers,2010:419-424.
Files in This Item:
File Name/Size DocType Version Access License
HYQW000602.pdf(244KB) 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Kang XD(康小东)]'s Articles
[Li W(李伟)]'s Articles
[Xu HL(徐红丽)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Kang XD(康小东)]'s Articles
[Li W(李伟)]'s Articles
[Xu HL(徐红丽)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Kang XD(康小东)]'s Articles
[Li W(李伟)]'s Articles
[Xu HL(徐红丽)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: HYQW000602.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.